KR20170078323A - Apparatus for detecting carriageway - Google Patents

Apparatus for detecting carriageway Download PDF

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Publication number
KR20170078323A
KR20170078323A KR1020150188706A KR20150188706A KR20170078323A KR 20170078323 A KR20170078323 A KR 20170078323A KR 1020150188706 A KR1020150188706 A KR 1020150188706A KR 20150188706 A KR20150188706 A KR 20150188706A KR 20170078323 A KR20170078323 A KR 20170078323A
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KR
South Korea
Prior art keywords
vehicle
lane
block
determination unit
sensor
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KR1020150188706A
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Korean (ko)
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KR101836810B1 (en
Inventor
송봉섭
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아주대학교산학협력단
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Priority to KR1020150188706A priority Critical patent/KR101836810B1/en
Publication of KR20170078323A publication Critical patent/KR20170078323A/en
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Publication of KR101836810B1 publication Critical patent/KR101836810B1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G06K9/00798—
    • G06K9/00825—
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The vehicle judging apparatus of the present invention comprises: a sensor unit installed in a vehicle and detecting an external environment of the vehicle; And a determination unit determining a state of a lane on which the vehicle travels using an output value of the sensor unit, wherein the sensor unit may include at least one of a vision sensor and a radar sensor.

Description

APPARATUS FOR DETECTING CARRIAGEWAY

The present invention relates to an apparatus for judging / understanding a total number of lanes on which a vehicle is traveling or determining / recognizing how many lanes a vehicle is traveling on.

The driver assistance system is rapidly evolving, and ultimately, lateral positioning information at the driving lane level of the automobile is required for commercialization of autonomous vehicles.

Elevated equipment such as a three-dimensional (Lidar) lidar can be used to obtain transverse positioning information at the driving lane level, but it is still in the development stage and commercialization due to cost problems is difficult.

Even if the cost problem is solved, it is difficult to acquire the lateral positioning information in the existing vehicle because a new vehicle equipped with the 3D rider must be manufactured.

Accordingly, there is a demand for a technique of acquiring lateral positioning information applicable to an existing vehicle and using the above information to grasp or determine the state of the road, for example, the maximum number of lanes.

Korean Patent Laid-Open Publication No. 2015-0042414 discloses a technology for grasping a change in a driving vehicle of a preceding vehicle. However, a technique of grasping positioning information (i.e., the position of the current driving lane in the entire lane) .

Korean Patent Laid-Open Publication No. 2015-0042414

The present invention is intended to provide a lane determining device that accurately obtains and grasps lateral positioning information of a lane on which a vehicle travels.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise forms disclosed. Other objects, which will be apparent to those skilled in the art, It will be possible.

The vehicle judging apparatus of the present invention comprises: a sensor unit installed in a vehicle and detecting an external environment of the vehicle; And a determination unit determining a state of the lane on which the vehicle travels using the output value of the sensor unit.

Wherein the sensor unit includes a vision sensor for monitoring the front of the vehicle through image capturing, the determination unit recognizes the driving lane on which the vehicle is currently running using the output value of the vision sensor, and when the change of the driving lane is detected, The maximum number of lanes of the road can be updated.

The sensor unit includes a radar sensor for monitoring the rear of the vehicle using a reflection signal, and the determination unit can determine the lane state of the lane on which the vehicle is currently traveling using the output value of the radar sensor.

The lane determining apparatus of the present invention can automatically determine or determine the state of the road on which the vehicle is traveling (such as the maximum number of lanes of the road and the number of lanes of the current lane) by using a vision sensor and a radar sensor installed in many vehicles .

Specifically, it is possible to determine how many cars the vehicle is traveling by using only the widely-used commercialization sensors.

The lane determining apparatus of the present invention can be applied to a driver assistance system that is currently being commercialized, for example, an adaptive cruise control system and a lane change assist system.

Further, the lane judgment device of the present invention can provide detailed driving information in conjunction with navigation installed in the vehicle.

The lane determining apparatus of the present invention is able to predict the driving lane of the vehicle through the prediction of the maximum lane number, prediction of the driving lane of the vehicle through recognition of the guard rail, and determination of the relative lane position of the side lane.

Fig. 1 is a block diagram showing a lane judgment device according to the present invention.
2 is a schematic view showing the operation of the lane determining device of the present invention.
3 is a flowchart showing an operation for determining the maximum number of lanes according to the present invention.
FIGS. 4 to 6 are schematic diagrams showing an operation of the lane determining apparatus of the present invention to determine the maximum number of lanes.
7 is a flowchart showing an operation of the lane determining apparatus of the present invention to determine the current driving lane of the vehicle.
8 to 10 are schematic views showing an operation of determining a driving lane of a vehicle in the lane determining device of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.

Fig. 1 is a block diagram showing a lane judgment device according to the present invention.

The lane determining apparatus 100 shown in FIG. 1 may include a sensor unit 110 and a determination unit 130.

The sensor unit 110 is installed in the vehicle and can sense the external environment of the vehicle. The external environment at this time may include a lane mark corresponding to a line drawn on the surface of the lane 10, another vehicle driving the lane, a guard rail provided at the edge of the lane, and the like.

The lanes described herein may refer to two lanes drawn in parallel on the road.

The determination unit 130 can determine or determine the state of the lane on which the vehicle travels using the output value of the sensor unit 110. [ The determination unit 130 may be installed in a vehicle provided with the sensor unit 110, or may be provided in a server separately provided from the vehicle.

When the determination unit 130 is provided in the server, the vehicle may further include a communication unit (not shown) for transmitting the output value of the sensor unit 110 to the server.

The determination unit 130 can determine the maximum number of lanes of the road or the current number of lanes of the vehicle using the lane mark, the other vehicle, the guard rail, and the vehicle interior information drawn on the surface of the lane.

The sensor unit 110 may include a vision sensor 111 for monitoring the front of the vehicle through image sensing in order to provide the determination unit 130 with the lane mark information drawn on the surface of the lane. At this time, the vision sensor 111 may be installed in an existing vehicle to prevent a forward collision.

The sensor unit 110 may include a radar sensor 113 for monitoring the rear of the vehicle using the reflected signal to provide the other vehicle information or the guardrail information to the determination unit 130. [ As with the vision sensor 111, the radar sensor 113 may be installed in an existing vehicle to prevent rear collision. The vision sensor 111 and the radar sensor 113 may be newly installed in the vehicle.

The sensor unit 110 may include an in-vehicle sensor 115 to provide in-vehicle information such as the vehicle speed, yaw rate, and steering angle value to the determining unit 130 .

The determination unit 130 may determine whether the current lane number is a maximum lane number, a current lane position, a Guardrail Detection module, a Recognition of Surrounding Vehicles, (Decision of Lane Change).

The maximum lane number may include an algorithm for predicting the maximum number of lanes of a road on which the vehicle is traveling. The maximum number of lane number module can predict the maximum number of lanes by using only the output value of the sensor unit 110, not the method of linking the map with the GPS mounted on the navigation 200 or the like. The maximum number of lanes predicted by the maximum lane number module may be provided to the navigation 200.

The current lane position may include an algorithm for predicting the lane on which the vehicle is currently traveling. The traveling lane can be updated according to the driving environment recognized by the sensor unit 110. [ The driving lane module can be interlocked with the navigation 200 installed in the vehicle.

As an example, a driving lane identified in the driving lane module may be provided to the navigation device 200. The driving lane module can update the driving lane that is currently grasped by receiving driving lane information obtained from the navigation unit 200 as the case may be.

In addition, various road information such as a driving lane recognized by the driving lane module can be transmitted to an external server or the like using a wireless communication module.

The navigation system 200 is installed in a vehicle and provides traffic information. By using the satellite, it is possible to grasp the time and position very precisely. However, in reality, a signal propagated from a satellite is irregularly reflected on a feature such as a building, so that there is an error in a position detected in the navigation system 200. [ If the automatic traveling system of the vehicle is implemented using the information of the navigation 200 in which the error exists, a serious problem may arise in safety. However, if the lane information acquired by the lane determining device of the present invention is provided, the navigation device 200 can correct the error using lane information provided from the lane determining device. For this, the determination unit 130 may provide the navigation information of the lane determined by using the output value of the sensor unit 110 to the navigation system 200.

The Guardrail Detection Module can determine whether a guardrail is present on the left or right side of the vehicle. The radar sensor emits a radar signal, and can detect the reflection by using a reflected signal that is reflected from a reflection mirror such as a guardrail. The guardrail grasping module can judge the reflection object as a guardrail when the reflection object detected through the radar sensor is present at a certain distance or at a predetermined position from the vehicle and is continuously detected.

Recognition of Surrounding Vehicles can distinguish which vehicles in the rear of the vehicle are in-lane, left-lane, or right-lane . The other vehicle identification module can also analyze the output value of the radar sensor and identify the other vehicle. Compared with the guard rail, the distance between the other vehicle and the vehicle is variable. Therefore, the other vehicle identification module can recognize the reflection object as another vehicle if the distance between the reflection object detected by the radar sensor and the vehicle changes frequently.

The Decision of Lane Change can be used to determine whether a vehicle is changing. The lane mark information should be obtained from the sensor unit 110 in order to grasp whether or not the vehicle is changed by the lane in the judgment unit 130. [

2 is a schematic view showing the operation of the lane determining device of the present invention.

Lane mark detection and lane change can be detected by the vision sensor 111. [

On the other hand, Guardrail detection and Surrounding vehicles can be detected by the radar sensor 113.

The determination unit 130 may determine the maximum number of lanes of the road using the value sensed by the sensor unit 110 or may update the lane position of the lane on which the vehicle is currently traveling.

The vision sensor 111 and the radar sensor 113 installed in the vehicle are used to prevent collision of the vehicle, and the coverage range may be very narrow. In other words, the observable distance of the vision sensor 111 and the radar sensor 113 may be limited to several meters. With this range of coverage, it may be difficult to monitor the entire width of the road.

The determination unit 130 can grasp the lane mark drawn on the surface of the lane using the output value of the vision sensor 111 and grasp the current driving lane of the vehicle. That is, in consideration of the coverage range of the vision sensor 111, the determination unit 130 can reliably grasp only the two lane marks forming one running lane in which the vehicle is currently running.

The determination unit 130 can recognize the current driving lane of the vehicle using the output value of the vision sensor 111 and update the maximum lane number of the road when a change in the driving lane is detected.

The determination unit 130 can recognize the guard rail of the vehicle using the output value of the radar sensor 113 and update the maximum number of roads according to whether the guard rail is detected. The judging unit 130 can use only information of one traveling lane in which the vehicle is currently traveling and information of both lanes of the lane lane in consideration of the coverage of the radar sensor 113. [

The determination unit 130 can confirm the maximum number of lanes of the road or the current driving lane of the vehicle if both the left guardrail and the right guardrail of the lane are grasped (Both guardrail).

In addition, the determination unit 130 can use the output value of the radar sensor 113 to determine the other vehicle on the left or right side of the current driving lane of the vehicle. The maximum number of lanes of the road can be updated depending on whether the vehicle is detected or not.

3 is a flowchart showing an operation for determining the maximum number of lanes of a road in the lane decision apparatus of the present invention.

The external environment of the vehicle traveling in the lane can be sensed by the sensor unit 110 (Sensor measurement). Specifically, the sensor unit 110 monitors the current driving lane of the vehicle and can monitor the rear of the vehicle in a range wider than the width of the lane. Since the rear portion of the vehicle is monitored more widely than the traveling lane by the sensor unit 110, a guard rail or another vehicle located on the left or right side of the lane of travel from the rear of the vehicle can be detected.

The determination unit 130 predicts and stores the maximum number of lanes through lane mark detection, Guardrail detection, surrounding vehicles detection, and lane change information. 150) (memory). In addition, the determination unit 130 can determine the maximum number of lanes stored in the storage unit according to whether or not both guard rails are recognized.

First, the determination unit 130 can determine whether the vehicle is traveling on a road on which the lane mark is formed through recognition of the lane mark.

The determination unit 130 can determine the guardrail and decide whether to proceed to the prediction step to determine the maximum number of lanes according to whether the guardrail is grasped or not.

The determination unit 130 can distinguish whether the other vehicle is positioned on the rear left side or the rear right side when the neighboring vehicle is recognized, and predict the maximum number of lanes using the other vehicle. For example, if there is one other vehicle on the rear left or right side, the determination unit 130 may predict the corresponding lane by at least a second road. If all vehicles are present in the rear left and rear right, the corresponding lane can be predicted as a third lane road.

The determination unit 130 can grasp the change of the obtained lane marks in real time, grasp the number of times the vehicle has changed lanes, change direction by lane, and update the maximum lane number using the grasped information.

When both the guard rails are detected, the determination unit 130 can determine the maximum number of lanes that have been dated to be the actual total lane number of the current road.

Specifically, the determination unit 130 may block or symbolize the lane, and use the blocks to determine or determine the maximum number of lanes of the road.

FIGS. 4 to 6 are schematic views showing an operation of determining the maximum number of lanes of a road in the lane decision apparatus of the present invention.

The determination unit 130 may generate a block of the lane 10. At this time, a plurality of blocks can be generated, and each block in the lateral direction can represent one lane.

The determination unit 130 updates the block in real time using the output value of the sensor unit 110 and determines the maximum number of lanes of the road using the updated block or determines the number of lanes of the current driving lane of the vehicle 90 .

The monitoring range of the vision sensor 111 installed on the vehicle 90 and the monitoring range of the radar sensor 113 may be as short as about 10 m as shown in FIG.

In order to accurately determine the state of the lane, for example, the number of lanes or the number of lanes by using the sensor unit 110 having a short monitoring range, the determination unit 130 can grasp the lane state step by step have.

Fig. 4 shows a process for predicting the maximum number of lanes on a one way secondary road.

4 (a), when the vehicle starts to run and both lane markers are recognized, the determination unit 130 can predict the maximum number of lanes to be at least one. If the left lane mark ⓜ is not well recognized but the rear left guardrail 30 is recognized, the determining unit 130 can predict the maximum number of lanes to be at least one.

The determination unit 130 may generate the spontaneous block ① indicating the state where the vehicle is positioned in the current driving lane through the detection of the lane mark or the guard rail 30. [

In addition, the determination unit 130 can generate the rear block (2) behind the self-car block (1).

If the determination unit 130 determines that the guard rail 30 exists on the side of the rear block 2, the determination unit 130 may generate a left block LG or a right guardrail on the side of the rear block 2 . The terminal block LG may be a symbol of the guard rail on the left side as a driving vehicle, and the terminal block RG may mean a guard rail on the right side of the driving vehicle.

In FIG. 4 (b), the vertical line can indicate whether or not the lane mark is recognized. The solid line indicates the case where the lane mark ⓜ is recognized, and the dotted line indicates the case where the lane mark ⓜ is not recognized.

If the vehicle changes the lane as shown in (c) of FIG. 4, the determination unit 130 can generate a new spontaneous block ① on the side of the existing spontaneous block. The determination unit 130 may generate a new rear block 2 & cir &

The determination unit 130 may predict the total number of the car blocks by the maximum number of the cars. In the case of FIG. 4 (c), the determination unit 130 can predict the maximum number of lanes to be two.

When the guard rail on the rear right side is grasped, the determination unit 130 can generate the end block RG on the right side of the rear block (2).

If the left end block LG and the right end block RG are generated in the corresponding block, the determination unit 130 determines the number of blocks located between the end blocks LG and RG in the horizontal direction Can be determined as the maximum number of lanes of the road. For example, in the case of FIG. 4 (d), the maximum number of lanes can be determined to be two.

5 (a) and 5 (b) show a state in which the lane determining device of the vehicle traveling on the road in the third lane has been determined to have three maximum lane numbers through the process of Fig. At this time, the block updated by the determination unit 130 may be as shown in FIG. 5 (b).

5 (c), the determination unit 130 recognizes the right guardrail and reduces the maximum number of lanes from three to two as shown in FIG. 5 (d) .

The determination unit 130 can generate a left vehicle or a right vehicle on the side of the rear block ② when it is recognized that the other vehicle 80 exists on the side of the driving lane. In addition, the determination unit 130 may generate the driving block 3 in front of the other-side blocks LV and RV. Since the other vehicle located in the other block is in a traveling state on a specific lane, the driving block ③ generated in front of the other block may mean a lane formed on the road.

Accordingly, the determination unit 130 can determine the maximum number of roads on the road by the number of the self-car block 1 and the driving block 3, or can determine the number of cars on the current driving lane.

LV means the rear left vehicle, and RV means the rear right vehicle.

For example, FIG. 6 shows a case where the vehicle 90 recognizes the left guardrail and the rear right rider 80 on the one way three-way road.

When the other vehicle 90 is detected on the rear right side, the determination unit 130 may generate the other-side block RV on the side of the rear block 2 located behind the car block 1 as shown in FIG. 6 (b). Further, the running block 3 & cir & can be generated in front of the other block RV. The generated driving block 3 & cir & can be positioned on the side of the car block # 1.

The determination unit 130 can predict the number of the car block 1 and the number of the driving block 3 by 2 at the maximum number of lanes.

6 (c), when the rear right vehicle is recognized as shown in FIG. 6 (c), since two car blocks and one car block are provided as shown in (d) of FIG. 6, Can be updated to three.

6 (e), when the rear right guardrail is detected, the judging unit 130 recognizes both the guard rails LG and RG, so that the maximum number of lanes is set to 3 It can be confirmed as a dog.

7 is a flowchart showing an operation of the lane determining apparatus of the present invention to determine the current driving lane of the vehicle.

The determination unit 130 may determine the driving lane of the vehicle through Guardrail detection, Surrounding detection, Lane change, and update the determination result to the storage unit current lane position).

First, the determination unit 130 can determine whether or not there is a guard rail located on the left or right side of the vehicle. When the left guardrail is recognized by the sensor unit 110, the determination unit 130 can determine the driving lane of the vehicle based on the left guardrail. Judgment criteria for driving lanes may vary from country to country.

When the other vehicle is recognized, the determination unit 130 can predict the driving lane of the vehicle using the relative position with the other vehicle in the lateral direction.

The determination unit 130 may increase or decrease the driving lane according to the change direction of the lane when the lane change is recognized. For example, when the vehicle changes from the leftmost lane to the right lane on the road where the leftmost lane is set to the first lane, the determination unit 130 may increase the number of the lane. If the vehicle changes the lane to the left side, the determination unit 130 may reduce the number of the lane of travel.

8 to 10 are schematic views showing an operation of determining a driving lane of a vehicle in the lane determining device of the present invention.

Fig. 8 shows an embodiment in which a driving lane is judged by recognizing a guard rail and recognizing a lane change. Fig. 8 is an embodiment for judging the driving lane on the road by the one way four lane.

8 (a), when the vehicle is traveling in the first lane, the determination unit 130 may generate a block as shown in FIG. 8 (b). Since the terminal block LG exists on the left side of the vehicle block 1, the determination unit 130 can determine the current driving lane of the vehicle as the first line.

When the vehicle changes the lane to the right side as shown in FIG. 8C, the determination unit 130 generates and analyzes the block of FIG. 8D and determines that the vehicle is located in the second block from the end block LG And it can be determined that the vehicle is currently traveling in the second lane. The block or block generated by the determination unit 130 may be newly stored in the storage unit or may be updated in a format in which the existing content is overwritten.

8 (e) and 8 (g), the determination unit 130 can determine that the vehicle is traveling in the third and fourth lanes, respectively.

When the vehicle is traveling in the fourth lane as shown in FIG. 8 (g), the right guardrail is recognized, and the block portion can generate and update the end block RG. Since both the end block LG and the end block RG are included in the updated block, the determination unit 130 can determine the maximum number of lanes and can grasp the current driving lane of the vehicle with certainty.

Figs. 9 and 10 illustrate an embodiment in which a driving lane is determined through recognition of another vehicle.

First, FIG. 9 shows a process of determining a driving lane on a road with one way and three lanes.

9 (a), when the vehicle starts to travel in the second lane, the sensor unit 110 does not detect the guard rail and the other vehicle, and can only detect the lane mark. Accordingly, the determination unit 130 generates the car block 1 and the rear block 2 for the current lane.

At this time, the determination unit 130 predicts that there is only one car block in the lateral direction, so that the number of lanes of the road is at least one, and it can be predicted that the car is currently traveling in the first lane.

9 (c), the determination unit 130 may generate the other block LV and the driving block 3 on the left side of the car block 1, as shown in FIG. 9 (d).

The determination unit 130 can predict that the present vehicle is traveling in at least two roads on the road having the number of lanes of two because the vehicle block and the left side difference block are recognized one by one.

9 (e), the determination unit 130 may generate the driving block 3 on the left and right sides of the car block 1, as shown in (f) of FIG. 9, when the other vehicle is recognized on the rear left and right sides . Of course, other blocks LV and RV can also be generated on the side of the rear block 2 located behind the self-car block 1 & cir &

The judging unit 130 recognizes one car block and two car blocks and estimates at least the number of lanes to be 3 and predicts that the car is currently traveling in the second lane.

10 shows a merging section of a lane.

10 (a), when the vehicle is traveling on the first confluence road, the determination unit 130 may generate the terminal block LG and the terminal block RG on both sides of the car block 1 through sensing the both side guard rails have.

When the vehicle enters a wide road as shown in (c) of FIG. 10, the determination unit 130 may recognize the right guardrail and may not recognize the left guardrail. At this time, the determination unit 130 may generate the terminal block RG on the right side of the car block 1 (specifically, the right side of the rear block 2) and delete the left terminal block LG.

Then, the determination unit 130 can predict that the vehicle is currently traveling in the first lane of the road having at least one lane number at present.

10 (c), when the other vehicle is detected on the rear left side, the determination unit 130 generates a left side block LV on the left side of the rear block 2 as shown in FIG. 10 (d) The driving block 3 can be generated. Then, the determination unit 130 predicts the two cars corresponding to the number of the car block and the car block as the maximum number of lanes, and predicts that the car is currently traveling in the second lane.

10 (e), when the vehicle is changed to the left side and the other vehicle is detected in the rear left side, the determination unit 130 generates a total of two self-car blocks? As shown in FIG. 10 (f) It is possible to generate the driving block 3 on the left side of the new car block. Then, the determination unit 130 can predict three combinations of two car blocks and one car block as the maximum number of lanes of the road. Further, it can be predicted that the vehicle is currently traveling in the second lane.

10 (g), if the left guardrail is detected by detecting the left guardrail, the judging unit 130 judges that the existing driving block 3 is covered with the car block 1 as shown in FIG. 10 (h) . Then, the end block LG of the left guardrail detected at the rear left side is generated, and the three car blocks positioned between LG and RG can be determined as the maximum number of lanes of the road. Further, it can be determined that the vehicle is currently traveling in the first lane. At this time, since the determined first lane is based on the left guardrail serving as a reference for the lane, it can be actually determined beyond the predicted level.

The lane decision apparatus described above can determine the maximum number of lanes of the road on which the vehicle is running or the lane on which it is currently traveling by using the vision sensor 111 and the radar sensor 113 having a limited recognition range.

The lane departure determination apparatus of the present invention can determine the maximum number of lanes of the road and the current lane of the lane of the lane by analyzing the lane by road so that the sensor unit having a limited sensing range can recognize the lane. Therefore, it is possible to reliably and accurately grasp the state of the lane directly connected to the safety by using the existing sensor unit 110 having the limited coverage.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined by the following claims.

10 ... car 30 ... guardrail
80 ... other vehicle 90 ... (vehicle) vehicle
110 ... sensor part 111 ... vision sensor
113 ... Radar sensor 115 ... Internal sensor
130 ... determination unit 150 ... storage unit
200 ... navigation

Claims (10)

A sensor unit installed in the vehicle and sensing an external environment of the vehicle;
And a determination unit for determining a state of a lane on which the vehicle travels using an output value of the sensor unit,
Wherein the sensor unit includes at least one of a vision sensor and a radar sensor.
The method according to claim 1,
Wherein the sensor unit includes the vision sensor for monitoring the front of the vehicle through image shooting,
Wherein the determination unit determines the driving lane in which the vehicle is currently traveling using the output value of the vision sensor and updates the maximum lane number of the road when a change in the driving lane is detected.
The method according to claim 1,
Wherein the sensor unit includes the radar sensor for monitoring the rear of the vehicle using a reflection signal,
Wherein the determination unit grasps the guard rail of the lane using the output value of the radar sensor and updates the maximum lane number of the road according to whether the guard rail is detected.
The method according to claim 1,
Wherein the sensor unit includes the radar sensor for monitoring the rear of the vehicle using a reflection signal,
Wherein the determination unit uses the output value of the radar sensor to identify the left or right side of the driving lane on which the vehicle is currently traveling and updates the maximum lane number of the road in accordance with whether the vehicle is detected.
The method according to claim 1,
The sensor unit monitors the driving lane in which the vehicle is currently traveling, monitors the rear side of the vehicle in a wider range than the driving lane,
Wherein the determination unit generates the block of the lane, updates the block using the output value of the sensor unit,
Wherein the determination unit determines the maximum number of lanes of the road by using the updated block or determines how many lanes the current driving lane of the vehicle is.
The method according to claim 1,
The sensor unit monitors the driving lane in which the vehicle is currently traveling, monitors the rear side of the vehicle in a wider range than the driving lane,
Wherein the determination unit generates a car block in which the vehicle is located and a rear block behind the car block in the driving lane and generates a new car block next to the car block when the car changes lanes.
The method according to claim 1,
The sensor unit monitors the driving lane in which the vehicle is currently traveling, monitors the rear side of the vehicle in a wider range than the driving lane,
Wherein the determination unit generates a car block in which the vehicle is located and a rear block behind the car block in the driving lane,
Wherein the determination unit generates a terminal block at a side of the rear block when it is determined that a guard rail is present at a side of the rear block.
8. The method of claim 7,
Wherein the determination unit determines the maximum number of lanes of the road when a left end block and a right end block are generated.
The method according to claim 1,
The sensor unit monitors the driving lane in which the vehicle is currently traveling, monitors the rear side of the vehicle in a wider range than the driving lane,
Wherein the judging unit generates a car block in which the vehicle is located and a rear block behind the car block in the driving lane,
Wherein the determination unit generates a road block on the side of the rear block, generates a road block in front of the other road block,
Wherein the determination unit determines the maximum number of lanes of the road by the number of the vehicle blocks and the number of the driving blocks or determines the number of lanes of the current driving lane of the vehicle.
The method according to claim 1,
And navigation provided in the vehicle and providing traffic information,
Wherein the determination unit provides the navigation unit with the state of the lane determined using the output value of the sensor unit.
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WO2021196041A1 (en) * 2020-03-31 2021-10-07 华为技术有限公司 Selection method for key target, apparatus, and system

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KR20200009759A (en) * 2018-07-20 2020-01-30 현대모비스 주식회사 Apparatus and method for controlling a vehicle radar
WO2021196041A1 (en) * 2020-03-31 2021-10-07 华为技术有限公司 Selection method for key target, apparatus, and system

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